uav development

1

Building UAV Vehicles

Ben Black, Ph.D – System EngineerMarcus Monroe – System EngineerAndy Cheng – Application Engineer

Javier Gutierrez - Senior PMM

2

Agenda

• Hardware Description• Algorithm Development• Software Deployment• Lessons learnt

3

Hardware Description – 4 rotor copter

• Motors + Blades• Sensors

6 axes IMU Ultrasound Dig Compass

• Controller Single Board RIO

• Extra hardware Daughter card Bluetooh Speed controllers

4

Control Algorithm Design

Model Creation

Linearizer

Gains

5

Model Development – Non Linear

6

Control Design – Control and Observer Gains

7

Model & Control Simulation

8

Deployment - I2C Sensor

9

Implementation Challenges

• Daughter Card• Voltage requirements.• Model calibration• Sensor to state• Implementation and

Controller tuning

10

Challenges- Daughter card

11

Challenges - Voltage Requirements

7.7 V 19 V

12

Challenges- Model Calibration

0 100 200 300 400 500 600 7000

50

100

150

200

250

300

350

400

450

Motor Characterization

thrust

13

Challenges – Sensor to state

12 States x, xdot

Model Sensors

Measurements x, xdot,xdotdot

14

Challenges - Implementation and Tuning

Sensor Noise Bias LQR design Kalman Filter Safety